From 814af5ce28878a8f1b4f4877d484efeb432ddd61 Mon Sep 17 00:00:00 2001
From: "Pasch, Frederik" <frederik.pasch@intel.com>
Date: Fri, 5 Apr 2019 15:20:17 +0200
Subject: [PATCH] Add info text, if manual control override is enabled

---
 CHANGELOG.md                                       |  1 -
 .../carla_manual_control/carla_manual_control.py   | 14 +++++++++++++-
 2 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 25b8f7c8..ff8d8773 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,6 +1,5 @@
 ## Latest changed
 
-* send rgb-camera images in 'bgr8' format (instead of 'bgra8')
 * rename gnss topic from '../gnss' to '../fix'
 * Add lane invasion sensor
 * Add collision sensor
diff --git a/carla_manual_control/src/carla_manual_control/carla_manual_control.py b/carla_manual_control/src/carla_manual_control/carla_manual_control.py
index d7eadd22..bc7e08fa 100755
--- a/carla_manual_control/src/carla_manual_control/carla_manual_control.py
+++ b/carla_manual_control/src/carla_manual_control/carla_manual_control.py
@@ -277,9 +277,12 @@ def __init__(self, width, height):
             "/carla/ego_vehicle/vehicle_info", CarlaEgoVehicleInfo, self.vehicle_info_updated)
         self.latitude = 0
         self.longitude = 0
+        self.manual_control = False
         self.gnss_subscriber = rospy.Subscriber(
             "/carla/ego_vehicle/gnss/gnss1/fix", NavSatFix, self.gnss_updated)
         self.tf_listener = tf.TransformListener()
+        self.manual_control_subscriber = rospy.Subscriber(
+            "/vehicle_control_manual_override", Bool, self.manual_control_override_updated)
 
     def __del__(self):
         self.gnss_subscriber.unregister()
@@ -292,6 +295,13 @@ def tick(self, clock):
         """
         self._notifications.tick(clock)
 
+    def manual_control_override_updated(self, data):
+        """
+        Callback on vehicle status updates
+        """
+        self.manual_control = data.data
+        self.update_info_text()
+
     def vehicle_status_updated(self, vehicle_status):
         """
         Callback on vehicle status updates
@@ -356,7 +366,9 @@ def update_info_text(self):
             ('Hand brake:', self.vehicle_status.control.hand_brake),
             ('Manual:', self.vehicle_status.control.manual_gear_shift),
             'Gear:        %s' % {-1: 'R', 0: 'N'}.get(self.vehicle_status.control.gear,
-                                                      self.vehicle_status.control.gear)]
+                                                      self.vehicle_status.control.gear),
+            '']
+        self._info_text += [('Manual ctrl:', self.manual_control)]
 
     def toggle_info(self):
         """